diff options
Diffstat (limited to 'nicla')
| -rw-r--r-- | nicla/road.py | 39 | ||||
| -rw-r--r-- | nicla/signs_detect.py | 41 | ||||
| -rw-r--r-- | nicla/traffic_light.py | 7 |
3 files changed, 53 insertions, 34 deletions
diff --git a/nicla/road.py b/nicla/road.py index 143a9c5..2c4e84a 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -27,6 +27,28 @@ points = [(STRETCH, HORIZON), (WIDTH-1+SQUEEZE, HEIGHT-1), (-SQUEEZE, HEIGHT-1)] +class CircularBuffer: + def __init__(self, size): + self.buffer = [None] * size + self.size = size + self.index = 0 + self.counter = 0 + self.output_value = None + + def add(self, value): + self.buffer[self.index] = value + self.index = (self.index + 1) % self.size + + if self.counter > 0 and self.buffer[self.index] == self.output_value: + self.counter += 1 + else: + self.output_value = value + self.counter = 1 + + if self.counter == self.size * 2 // 3: + return self.output_value + + return None def drive(img): img.to_grayscale() @@ -54,19 +76,20 @@ def drive(img): uart.uart_buffer(steerByte) +traffic_buffer = CircularBuffer(2) +sign_buffer = CircularBuffer(3) while(True): - #img = sensor.snapshot() - #data = traffic_light.traf_lights(img) - #if data is not None: - #uart.uart_buffer(data) - + img = sensor.snapshot() + data = traffic_buffer.add(traffic_light.traf_lights(img)) + if data is not None: + uart.uart_buffer(data) sign_img = sensor.snapshot() - data_sign = signs_detect.sign_detection(sign_img) - if data_sign is not None: - uart.uart_buffer(data_sign) + data = sign_buffer.add(signs_detect.sign_detection(sign_img)) + if data is not None: + uart.uart_buffer(data) drive_img = sensor.snapshot() drive(drive_img) diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py index baf62e8..70bc633 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -13,45 +13,39 @@ def init_kpts(str): kpts = temp_img.find_keypoints(max_keypoints=128, threshold=kpts_threshold, corner_detector=kpts_corner, scale_factor=1.2) return kpts +speed = init_kpts("speed") +stop = init_kpts("stop") +car = init_kpts("image") + def match_kpts(kpts0, kpts1): if kpts0 is not None and kpts1 is not None: match = image.match_descriptor(kpts0, kpts1, threshold=70) #print("matched:%d dt:%d"%(match.count(), match.theta())) if match.count() > 0: print(match.count()) - return match.count() > 1 + return match.count() > 0 else: return 0 def read_red_sign(val, img, kpts): + data = 0x00 if match_kpts(kpts, stop): - img.draw_rectangle(val.rect()) + #img.draw_rectangle(val.rect()) #img.draw_cross(match.cx(), match.cy(), size=10) - print("stop") - + #print("stop") + return 0x01 if match_kpts(kpts, speed): img.draw_rectangle(val.rect()) - print("speed") - + #print("speed") + return 0x02 if match_kpts(kpts, car): img.draw_rectangle(val.rect()) - print("car") + #print("car") + return 0x03 #def read_red_sign(val, img, kpts): - -kpts_threshold = 20 -kpts_corner = image.CORNER_FAST - -speed = init_kpts("speed") -stop = init_kpts("stop") -car = init_kpts("image") - - -while(True): - clock.tick() # Update the FPS clock. - img = sensor.snapshot() # Take a picture and return the image. - +def sign_detection(img): ######## Detect signs blobs_r = img.find_blobs([(0, 100, 25, 63, -128, 127)]) @@ -70,7 +64,8 @@ while(True): kpts_img = img.find_keypoints(max_keypoints=255, threshold=kpts_threshold, corner_detector=kpts_corner) for index, b in enumerate(blobs_r): - read_red_sign(b, img, kpts_img) + sign_buffer = read_red_sign(b, img, kpts_img) - for index, b in enumerate(blobs_b): - read_blu_sign(b, img, kpts_img) + #for index, b in enumerate(blobs_b): + #sign_buffer = read_blu_sign(b, img, kpts_img) + return sign_buffer diff --git a/nicla/traffic_light.py b/nicla/traffic_light.py index 9499aea..f445690 100644 --- a/nicla/traffic_light.py +++ b/nicla/traffic_light.py @@ -32,6 +32,7 @@ def rgb2hsv(rgb): def traf_lights(imgTraffic): + original = imgTraffic.copy(copy_to_fb=True) img = imgTraffic.to_grayscale() for blob in img.find_blobs([(0, 60)], pixels_threshold=100): aspect = blob.h() / blob.w() @@ -62,10 +63,10 @@ def traf_lights(imgTraffic): #print(("", "rood", "geel", "groen")[light_status]) if light_status == 1: - return 0x06 - elif light_status == 2: return 0x07 - elif light_status == 3: + elif light_status == 2: return 0x08 + elif light_status == 3: + return 0x09 else: return 0x01 |